a tree structure of bodies connected by joints that is treated as a unit by the dynamics solver More...

#include <PxArticulationBase.h>

Inheritance diagram for PxArticulationBase:

Collaboration diagram for PxArticulationBase:

Public Member Functions
virtual PxScene *	getScene () const =0
	Retrieves the scene which this articulation belongs to. More...

virtual void	setSolverIterationCounts (PxU32 minPositionIters, PxU32 minVelocityIters=1)=0
	Sets the solver iteration counts for the articulation. More...

virtual void	getSolverIterationCounts (PxU32 &minPositionIters, PxU32 &minVelocityIters) const =0
	Retrieves the solver iteration counts. More...

virtual bool	isSleeping () const =0
	Returns true if this articulation is sleeping. More...

virtual void	setSleepThreshold (PxReal threshold)=0
	Sets the mass-normalized energy threshold below which an articulation may go to sleep. More...

virtual PxReal	getSleepThreshold () const =0
	Returns the mass-normalized energy below which an articulation may go to sleep. More...

virtual void	setStabilizationThreshold (PxReal threshold)=0
	Sets the mass-normalized kinetic energy threshold below which an articulation may participate in stabilization. More...

virtual PxReal	getStabilizationThreshold () const =0
	Returns the mass-normalized kinetic energy below which an articulation may participate in stabilization. More...

virtual void	setWakeCounter (PxReal wakeCounterValue)=0
	Sets the wake counter for the articulation. More...

virtual PxReal	getWakeCounter () const =0
	Returns the wake counter of the articulation. More...

virtual void	wakeUp ()=0
	Wakes up the articulation if it is sleeping. More...

virtual void	putToSleep ()=0
	Forces the articulation to sleep. More...

virtual PxArticulationLink *	createLink (PxArticulationLink *parent, const PxTransform &pose)=0
	adds a link to the articulation with default attribute values. More...

virtual PxU32	getNbLinks () const =0
	returns the number of links in the articulation More...

virtual PxU32	getLinks (PxArticulationLink **userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const =0
	returns the set of links in the articulation More...

virtual void	setName (const char *name)=0
	Sets a name string for the object that can be retrieved with getName(). More...

virtual const char *	getName () const =0
	Retrieves the name string set with setName(). More...

virtual PxBounds3	getWorldBounds (float inflation=1.01f) const =0
	Retrieves the axis aligned bounding box enclosing the articulation. More...

virtual PxAggregate *	getAggregate () const =0
	Retrieves the aggregate the articulation might be a part of. More...

virtual PxArticulationImpl *	getImpl ()=0

virtual const PxArticulationImpl *	getImpl () const =0

virtual	~PxArticulationBase ()

virtual PxArticulationJointBase *	createArticulationJoint (PxArticulationLink &parent, const PxTransform &parentFrame, PxArticulationLink &child, const PxTransform &childFrame)=0

virtual void	releaseArticulationJoint (PxArticulationJointBase *joint)=0

Public Member Functions inherited from PxBase
virtual void	release ()=0
	Releases the PxBase instance, please check documentation of release in derived class. More...

virtual const char *	getConcreteTypeName () const =0
	Returns string name of dynamic type. More...

template<class T >
T *	is ()

template<class T >
const T *	is () const

PX_FORCE_INLINE PxType	getConcreteType () const
	Returns concrete type of object. More...

PX_FORCE_INLINE void	setBaseFlag (PxBaseFlag::Enum flag, bool value)
	Set PxBaseFlag. More...

PX_FORCE_INLINE void	setBaseFlags (PxBaseFlags inFlags)
	Set PxBaseFlags. More...

PX_FORCE_INLINE PxBaseFlags	getBaseFlags () const
	Returns PxBaseFlags. More...

virtual bool	isReleasable () const
	Whether the object is subordinate. More...

Public Attributes
void *	userData
	user can assign this to whatever, usually to create a 1:1 relationship with a user object. More...

Protected Member Functions
PX_INLINE	PxArticulationBase (PxType concreteType, PxBaseFlags baseFlags)

PX_INLINE	PxArticulationBase (PxBaseFlags baseFlags)

Protected Member Functions inherited from PxBase
PX_INLINE	PxBase (PxType concreteType, PxBaseFlags baseFlags)
	Constructor setting concrete type and base flags. More...

PX_INLINE	PxBase (PxBaseFlags baseFlags)
	Deserialization constructor setting base flags. More...

virtual	~PxBase ()
	Destructor. More...

virtual bool	isKindOf (const char *superClass) const
	Returns whether a given type name matches with the type of this instance. More...

template<class T >
bool	typeMatch () const

Additional Inherited Members
Protected Attributes inherited from PxBase
PxType	mConcreteType

PxBaseFlags	mBaseFlags

Detailed Description

a tree structure of bodies connected by joints that is treated as a unit by the dynamics solver

Articulations are more expensive to simulate than the equivalent collection of PxRigidDynamic and PxJoint structures, but because the dynamics solver treats each articulation as a single object, they are much less prone to separation and have better support for actuation. An articulation may have at most 64 links.

See also: PxArticulationJoint PxArticulationLink PxPhysics.createArticulation

Constructor & Destructor Documentation

◆ ~PxArticulationBase()

virtual PxArticulationBase::~PxArticulationBase ( )

inlinevirtual

◆ PxArticulationBase() [1/2]

PX_INLINE PxArticulationBase::PxArticulationBase	(	PxType	concreteType,
		PxBaseFlags	baseFlags
	)

inlineprotected

◆ PxArticulationBase() [2/2]

PX_INLINE PxArticulationBase::PxArticulationBase ( PxBaseFlags baseFlags )

inlineprotected

Member Function Documentation

◆ createArticulationJoint()

virtual PxArticulationJointBase* PxArticulationBase::createArticulationJoint	(	PxArticulationLink &	parent,
		const PxTransform &	parentFrame,
		PxArticulationLink &	child,
		const PxTransform &	childFrame
	)

pure virtual

◆ createLink()

virtual PxArticulationLink* PxArticulationBase::createLink	(	PxArticulationLink *	parent,
		const PxTransform &	pose
	)

pure virtual

adds a link to the articulation with default attribute values.

Parameters

[in]	parent	the parent link of the articulation. Should be NULL if (and only if) this is the root link
[in]	pose	the initial pose of the new link. Must be a valid transform

Returns: the new link, or NULL if the link cannot be created because the articulation has reached its maximum link count (currently 64).

See also: PxArticulationLink

◆ getAggregate()

virtual PxAggregate* PxArticulationBase::getAggregate ( ) const

pure virtual

Retrieves the aggregate the articulation might be a part of.

Returns: The aggregate the articulation is a part of, or NULL if the articulation does not belong to an aggregate.

See also: PxAggregate

◆ getImpl() [1/2]

virtual PxArticulationImpl* PxArticulationBase::getImpl ( )

pure virtual

◆ getImpl() [2/2]

virtual const PxArticulationImpl* PxArticulationBase::getImpl ( ) const

pure virtual

◆ getLinks()

virtual PxU32 PxArticulationBase::getLinks	(	PxArticulationLink **	userBuffer,
		PxU32	bufferSize,
		PxU32	startIndex = `0`
	)		const

pure virtual

returns the set of links in the articulation

Parameters

[in]	userBuffer	buffer into which to write an array of articulation link pointers
[in]	bufferSize	the size of the buffer. If this is not large enough to contain all the pointers to links, only as many as will fit are written.
[in]	startIndex	Index of first link pointer to be retrieved

Returns: the number of links written into the buffer.

See also: ArticulationLink

◆ getName()

virtual const char* PxArticulationBase::getName ( ) const

pure virtual

Retrieves the name string set with setName().

Returns: Name string associated with object.

See also: setName()

◆ getNbLinks()

virtual PxU32 PxArticulationBase::getNbLinks ( ) const

pure virtual

returns the number of links in the articulation

◆ getScene()

virtual PxScene* PxArticulationBase::getScene ( ) const

pure virtual

Retrieves the scene which this articulation belongs to.

Returns: Owner Scene. NULL if not part of a scene.

See also: PxScene

◆ getSleepThreshold()

virtual PxReal PxArticulationBase::getSleepThreshold ( ) const

pure virtual

Returns the mass-normalized energy below which an articulation may go to sleep.

Returns: The energy threshold for sleeping.

See also: isSleeping() wakeUp() putToSleep() setSleepThreshold()

◆ getSolverIterationCounts()

virtual void PxArticulationBase::getSolverIterationCounts	(	PxU32 &	minPositionIters,
		PxU32 &	minVelocityIters
	)		const

pure virtual

Retrieves the solver iteration counts.

See also: setSolverIterationCounts()

◆ getStabilizationThreshold()

virtual PxReal PxArticulationBase::getStabilizationThreshold ( ) const

pure virtual

Returns the mass-normalized kinetic energy below which an articulation may participate in stabilization.

Articulations whose kinetic energy divided by their mass is above this threshold will not participate in stabilization.

Returns: The energy threshold for participating in stabilization.

See also: setStabilizationThreshold() PxSceneFlag::eENABLE_STABILIZATION

◆ getWakeCounter()

virtual PxReal PxArticulationBase::getWakeCounter ( ) const

pure virtual

Returns the wake counter of the articulation.

Returns: The wake counter of the articulation.

See also: isSleeping() setWakeCounter()

◆ getWorldBounds()

virtual PxBounds3 PxArticulationBase::getWorldBounds ( float inflation = 1.01f ) const

pure virtual

Retrieves the axis aligned bounding box enclosing the articulation.

Parameters

[in] inflation Scale factor for computed world bounds. Box extents are multiplied by this value.

Returns: The articulation's bounding box.

See also: PxBounds3

◆ isSleeping()

virtual bool PxArticulationBase::isSleeping ( ) const

pure virtual

Returns true if this articulation is sleeping.

When an actor does not move for a period of time, it is no longer simulated in order to save time. This state is called sleeping. However, because the object automatically wakes up when it is either touched by an awake object, or a sleep-affecting property is changed by the user, the entire sleep mechanism should be transparent to the user.

An articulation can only go to sleep if all links are ready for sleeping. An articulation is guaranteed to be awake if at least one of the following holds:

The wake counter is positive (see setWakeCounter()).
The linear or angular velocity of any link is non-zero.
A non-zero force or torque has been applied to the articulation or any of its links.

If an articulation is sleeping, the following state is guaranteed:

The wake counter is zero.
The linear and angular velocity of all links is zero.
There is no force update pending.

When an articulation gets inserted into a scene, it will be considered asleep if all the points above hold, else it will be treated as awake.

If an articulation is asleep after the call to PxScene::fetchResults() returns, it is guaranteed that the poses of the links were not changed. You can use this information to avoid updating the transforms of associated of dependent objects.

Note: It is invalid to use this method if the articulation has not been added to a scene already.

Returns: True if the articulation is sleeping.

See also: isSleeping() wakeUp() putToSleep() getSleepThreshold()

◆ putToSleep()

virtual void PxArticulationBase::putToSleep ( )

pure virtual

Forces the articulation to sleep.

The articulation will stay asleep during the next simulation step if not touched by another non-sleeping actor.

Note: This will set any applied force, the velocity and the wake counter of all bodies in the articulation to zero.; It is invalid to use this method if the articulation has not been added to a scene already.

See also: isSleeping() wakeUp()

◆ releaseArticulationJoint()

virtual void PxArticulationBase::releaseArticulationJoint ( PxArticulationJointBase * joint )

pure virtual

◆ setName()

virtual void PxArticulationBase::setName ( const char * name )

pure virtual

Sets a name string for the object that can be retrieved with getName().

This is for debugging and is not used by the SDK. The string is not copied by the SDK, only the pointer is stored.

Parameters

[in] name String to set the objects name to.

See also: getName()

◆ setSleepThreshold()

virtual void PxArticulationBase::setSleepThreshold ( PxReal threshold )

pure virtual

Sets the mass-normalized energy threshold below which an articulation may go to sleep.

The articulation will sleep if the energy of each body is below this threshold.

Parameters

[in] threshold Energy below which an actor may go to sleep. Range: [0, PX_MAX_F32)

See also: isSleeping() getSleepThreshold() wakeUp() putToSleep()

◆ setSolverIterationCounts()

virtual void PxArticulationBase::setSolverIterationCounts	(	PxU32	minPositionIters,
		PxU32	minVelocityIters = `1`
	)

pure virtual

Sets the solver iteration counts for the articulation.

The solver iteration count determines how accurately joints and contacts are resolved. If you are having trouble with jointed bodies oscillating and behaving erratically, then setting a higher position iteration count may improve their stability.

If intersecting bodies are being depenetrated too violently, increase the number of velocity iterations. More velocity iterations will drive the relative exit velocity of the intersecting objects closer to the correct value given the restitution.

Parameters

[in]	minPositionIters	Number of position iterations the solver should perform for this articulation. Range: [1,255]
[in]	minVelocityIters	Number of velocity iterations the solver should perform for this articulation. Range: [1,255]

See also: getSolverIterationCounts()

◆ setStabilizationThreshold()

virtual void PxArticulationBase::setStabilizationThreshold ( PxReal threshold )

pure virtual

Sets the mass-normalized kinetic energy threshold below which an articulation may participate in stabilization.

Articulation whose kinetic energy divided by their mass is above this threshold will not participate in stabilization.

This value has no effect if PxSceneFlag::eENABLE_STABILIZATION was not enabled on the PxSceneDesc.

Default: 0.01 * PxTolerancesScale::speed * PxTolerancesScale::speed

Parameters

[in] threshold Energy below which an actor may participate in stabilization. Range: [0,inf)

See also: getStabilizationThreshold() PxSceneFlag::eENABLE_STABILIZATION

◆ setWakeCounter()

virtual void PxArticulationBase::setWakeCounter ( PxReal wakeCounterValue )

pure virtual

Sets the wake counter for the articulation.

The wake counter value determines the minimum amount of time until the articulation can be put to sleep. Please note that an articulation will not be put to sleep if the energy is above the specified threshold (see setSleepThreshold()) or if other awake objects are touching it.

Note: Passing in a positive value will wake the articulation up automatically.

Default: 0.4 (which corresponds to 20 frames for a time step of 0.02)

Parameters

[in] wakeCounterValue Wake counter value. Range: [0, PX_MAX_F32)

See also: isSleeping() getWakeCounter()

◆ wakeUp()

virtual void PxArticulationBase::wakeUp ( )

pure virtual

Wakes up the articulation if it is sleeping.

The articulation will get woken up and might cause other touching objects to wake up as well during the next simulation step.

Note: This will set the wake counter of the articulation to the value specified in PxSceneDesc::wakeCounterResetValue.; It is invalid to use this method if the articulation has not been added to a scene already.

See also: isSleeping() putToSleep()

Member Data Documentation

◆ userData

void* PxArticulationBase::userData

user can assign this to whatever, usually to create a 1:1 relationship with a user object.

The documentation for this class was generated from the following file:

PxArticulationBase.h

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~PxArticulationBase()

◆ PxArticulationBase() [1/2]

◆ PxArticulationBase() [2/2]

Member Function Documentation

◆ createArticulationJoint()

◆ createLink()

◆ getAggregate()

◆ getImpl() [1/2]

◆ getImpl() [2/2]

◆ getLinks()

◆ getName()

◆ getNbLinks()

◆ getScene()

◆ getSleepThreshold()

◆ getSolverIterationCounts()

◆ getStabilizationThreshold()

◆ getWakeCounter()

◆ getWorldBounds()

◆ isSleeping()

◆ putToSleep()

◆ releaseArticulationJoint()

◆ setName()

◆ setSleepThreshold()

◆ setSolverIterationCounts()

◆ setStabilizationThreshold()

◆ setWakeCounter()

◆ wakeUp()

Member Data Documentation

◆ userData